CN114244214B - Position control algorithm of permanent magnet synchronous motor based on improved sliding mode control - Google Patents
Position control algorithm of permanent magnet synchronous motor based on improved sliding mode control Download PDFInfo
- Publication number
- CN114244214B CN114244214B CN202111306166.2A CN202111306166A CN114244214B CN 114244214 B CN114244214 B CN 114244214B CN 202111306166 A CN202111306166 A CN 202111306166A CN 114244214 B CN114244214 B CN 114244214B
- Authority
- CN
- China
- Prior art keywords
- sliding mode
- control
- controller
- permanent magnet
- fuzzy
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 39
- 238000004422 calculation algorithm Methods 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 claims abstract description 26
- 238000013178 mathematical model Methods 0.000 claims abstract description 5
- 238000001914 filtration Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000004907 flux Effects 0.000 claims description 2
- 238000010276 construction Methods 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 7
- 230000004044 response Effects 0.000 abstract description 7
- 230000007547 defect Effects 0.000 abstract description 4
- 230000001105 regulatory effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000004088 simulation Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The invention discloses a permanent magnet synchronous motor position control method based on improved sliding mode control, which comprises a mathematical model under q-axis and d-axis coordinates of a surface-mounted permanent magnet synchronous motor, and a given reference position theta ref And constructing a nonsingular fuzzy sliding mode controller based on a continuous approach law function, taking a position tracking error function as a sliding mode surface, obtaining q-axis reference voltage, regulating the output of the sliding mode controller by an active disturbance rejection controller, outputting voltage, and regulating the output position of the motor based on the output voltage of the active disturbance rejection controller. The buffeting problem of the traditional sliding mode control is reduced to a certain extent. The response speed and the robustness of the system are improved. The system structure is simplified, the defect of PI control on a nonlinear system is overcome, and the influence caused by internal parameter change is reduced. The control algorithm has simple structure and small calculated amount, and can be used for other related servo systems.
Description
Technical Field
One or more embodiments of the present disclosure relate to the field of motor motion control, and in particular, to a position control algorithm for a permanent magnet synchronous motor based on improved sliding mode control.
Background
The permanent magnet synchronous motor has the characteristics of high power density, strong driving capability, small volume, low rotational inertia and the like, and is widely applied to different industries such as wind power generation, electric automobiles and industrial control. The traditional permanent magnet synchronous motor control needs to rely on components such as a photoelectric encoder and a rotary transformer to extract the rotating speed and position information of a motor rotor, so that the economic cost and the installation difficulty are improved, and the performance of the whole control system is easily influenced by the influence of external environment.
In order to enable the permanent magnet synchronous motor to achieve better control performance in a complex environment, the control cannot be achieved only by means of traditional PI control, and a better control method is needed to achieve quick response and strong robustness of a servo driving system, various nonlinear control methods such as fuzzy logic control, neural network control and predictive control are proposed by researchers, and the control performance of the permanent magnet synchronous motor system is improved from different aspects, however, the design complexity and the calculation burden of the methods are increased. In recent years, sliding mode control is widely applied due to the rapidity and robustness of uncertainty, but buffeting phenomenon can occur and control performance is affected due to the fact that simple sliding mode control is applied to inner and outer ring control of a permanent magnet synchronous motor.
Disclosure of Invention
In view of this, an object of one or more embodiments of the present disclosure is to provide a position control algorithm for a permanent magnet synchronous motor based on improved sliding mode control, so as to solve the problem of buffeting phenomenon generated by sliding mode control, and achieve accurate tracking performance and strong robustness.
In view of the above, one or more embodiments of the present disclosure provide a position control algorithm for a permanent magnet synchronous motor based on improved sliding mode control, including the steps of:
mathematical model under q and d axis coordinates of surface-mounted permanent magnet synchronous motor, and given reference position theta ref；
Constructing a nonsingular fuzzy sliding mode controller based on a continuous approach law function;
taking the position tracking error function as a sliding mode surface to obtain q-axis reference current;
the active disturbance rejection controller regulates the output of the sliding mode controller and outputs voltage;
the output position of the motor is adjusted based on the output voltage of the active disturbance rejection controller.
Compared with the traditional sliding mode control, the position control algorithm of the permanent magnet synchronous motor based on the improved sliding mode control provided by the embodiment of the specification adopts the continuous approach law design controller, so that the buffeting problem of the traditional sliding mode control is reduced to a certain extent, meanwhile, the fuzzy controller is adopted to adjust parameters in real time, the gain in the sliding mode approach law is adjusted in real time on line, the response speed and the robustness of the system are improved, the linear active disturbance rejection control resistance method is adopted in the inner loop of the system, the system structure is simplified, the defect of PI control on a nonlinear system is overcome, the influence caused by the change of internal parameters is reduced, and the control algorithm is simple in structure and small in calculated amount and can be used for other related servo systems.
Preferably, constructing the nonsingular terminal fuzzy sliding mode controller on the basis of the continuous approach law comprises the following steps:
under the mathematical model of the permanent magnet synchronous motor under d and q coordinates, constructing a nonsingular terminal sliding mode controller on the basis of a continuous approach law;
and selecting a sliding mode surface and a first derivative of the sliding mode control as a fuzzy controller, and taking the switching gain of the sliding mode controller as the output of the fuzzy controller to obtain the nonsingular terminal fuzzy sliding mode controller.
The design steps of the sliding mode controller based on the continuous approach law are as follows: (1) a slip-form face:the method comprises the steps of carrying out a first treatment on the surface of the (2) sliding mode approach law: />The method comprises the steps of carrying out a first treatment on the surface of the (3) expression of controller:
i q * for input of the inner loop current controller, θ ref For a given reference position, e is the position tracking error, 0<β<1, m and n are positive odd numbers, alpha is positive odd number, and lambda is m/n. Design of a fuzzy controller: selecting a slip form surface and a slip formThe derivative of the order is used as the input of the fuzzy controller, the switching gain of the sliding mode controller is used as the output of the fuzzy controller, and therefore the sliding mode controller under the control of a fuzzy rule is obtained:
. The current loop is used as the inner loop control of the permanent magnet synchronous motor control system, and has the functions of being capable of being started with maximum current in the starting process of the motor, being capable of being quickly recovered and stabilized when external disturbance exists, and accelerating dynamic tracking response; as an inner loop control, a linear active disturbance rejection control (ladc) is chosen instead of the conventional PI control, which also faces the influence of the uncertainty of the internal parameters.
Preferably, the estimated value of the switching gain of the sliding mode approach law is
Wherein u is the output of the fuzzy controller, k is the input parameter of the sliding mode controller, mu i (U i ) And outputting the membership degree corresponding to the i-th element in the fuzzy set.
Preferably, the active disturbance rejection controller adjusts an output of the slip mode controller, the output voltage including:
if the inner loop controller is constructed by combining the linear active disturbance rejection control, the following design is also needed: from the voltage equation:definitions->In which b q For voltage gain, a q And (t) is the total disturbance of the q-axis current loop.
The method specifically comprises the following steps:
the linear active disturbance rejection controller design includes: (1) First order Tracking Differentiator (TD) design,z 1 Is i q * R is a velocity factor, τ is a rate of change of the reaction gain, h 0 Is a filtering factor; (2) Linear Extended State Observer (LESO): A->Selecting a state variable x 1 =i q 、x 2 =a q (t) the design of the linear extended state observer is: />，/>Z1 and z2 are observed values of x1 and x2, and L is a control gain of the LESO. (3) linear error state feedback control law design: />And determining each parameter according to a parameter setting method of the linear active disturbance rejection control, regulating the output position of the motor by switching on the voltage therebetween, comparing the output position with a reference position, and feeding back to the system to obtain accurate tracking performance.
By utilizing a first-order tracking differentiator, reasonable control signals are given out by carrying out low-pass filtering on the output value of the sliding mode controller;
the linear expansion observer tracks unknown parts and disturbance of the model by utilizing the expanded state, and gives out control quantity to compensate;
the linear error state feedback control law obtains stable control voltage by controlling and adjusting the tracking value of the first-order differential tracker and the observed value of the extended state observer.
The q-axis voltage value is finally obtained as follows:then, the voltage component u on the alpha axis under two static coordinates is calculated through inverse park coordinate transformation α * Voltage component u on the beta axis β * After space vector pulse width modulation SVPWM, the voltage is input to an inverter, and is converted into three-phase alternating current through the inverter to supply powerAnd the motor obtains a position signal theta of the motor and inputs the position signal theta to a nonsingular continuous terminal fuzzy sliding mode control module, compares the position signal theta with a reference position, obtains q-axis reference current and inputs the q-axis reference current to a linear active disturbance rejection module, and finally the motor control system forms a closed loop control circuit.
Preferably, the control system on which the method is based comprises: the system comprises a permanent magnet synchronous motor, a three-phase inverter module, a SVPWM vector control module, a nonsingular continuous terminal fuzzy sliding mode control module and a linear active disturbance rejection control module.
Preferably, the permanent magnet synchronous motor comprises a surface mount permanent magnet synchronous motor.
Preferably, the simulation time of the present control algorithm is set to 1 second.
It can be seen from the above that, compared with the traditional sliding mode control, the position control algorithm of the permanent magnet synchronous motor based on the improved sliding mode control provided by one or more embodiments of the present disclosure adopts a continuous approach law design controller, so that the buffeting problem of the traditional sliding mode control is reduced to a certain extent, meanwhile, a fuzzy controller is adopted to adjust parameters in real time, the gain in the approach law of the sliding mode is adjusted in real time on line, the response speed and the robustness of the system are improved, and a linear active disturbance rejection control resistance method is adopted in the inner loop of the system, so that the system structure is simplified, the defect of PI control on a nonlinear system is solved, the influence caused by the change of internal parameters is reduced, and the control algorithm has a simple structure and small calculation amount and can be used for other relevant servo systems.
Drawings
For a clearer description of one or more embodiments of the present description or of the solutions of the prior art, the drawings that are necessary for the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description below are only one or more embodiments of the present description, from which other drawings can be obtained, without inventive effort, for a person skilled in the art.
FIG. 1 is a block diagram of a position control algorithm for a permanent magnet synchronous motor based on improved slip-form control provided by the present invention;
FIG. 2 is a flow chart of a permanent magnet synchronous motor position control method provided by the implementation of the invention;
FIG. 3 is a schematic block diagram of fuzzy sliding mode control provided by the implementation of the invention;
FIG. 4 is a flow chart of a fuzzy sliding mode control principle provided by the implementation of the invention;
fig. 5 is a comparison chart of tracking reference positions and tracking errors under the no-load condition of adopting a nonsingular continuous terminal sliding mode control algorithm.
Fig. 6 is a comparison chart of tracking reference positions and tracking errors under no-load condition by combining nonsingular continuous terminal sliding mode control with linear active disturbance rejection control algorithm.
Fig. 7 is a comparison chart of tracking error and tracking reference position under no-load condition of adopting nonsingular continuous terminal fuzzy sliding mode control combined with linear active disturbance rejection control algorithm.
Fig. 8 is a comparison chart of tracking reference positions and tracking errors of the sliding mode control algorithm of the non-singular continuous terminal under the load condition.
Fig. 9 is a comparison chart of tracking reference positions and tracking errors of the non-singular continuous terminal sliding mode control combined with a linear active disturbance rejection control algorithm under a load condition.
Fig. 10 is a comparison chart of tracking reference positions and tracking errors of the non-singular continuous terminal fuzzy sliding mode control combined with the linear active disturbance rejection control algorithm under the load condition.
FIG. 11 is a graph showing the comparison of tracking errors of the sliding mode control algorithm of the non-singular continuous terminal under the condition of different rotational inertia.
FIG. 12 is a graph showing the comparison of tracking errors using a nonsingular continuous terminal sliding mode control in combination with a linear active disturbance rejection control algorithm under different moment of inertia.
FIG. 13 is a graph showing the comparison of tracking errors of the non-singular continuous terminal fuzzy sliding mode control and the linear active disturbance rejection control algorithm under different moment of inertia.
Detailed Description
For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made in detail to the following specific examples.
It is noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present disclosure should be taken in a general sense as understood by one of ordinary skill in the art to which the present disclosure pertains. The use of the terms "first," "second," and the like in one or more embodiments of the present description does not denote any order, quantity, or importance, but rather the terms "first," "second," and the like are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
Fig. 1 is a block diagram of a permanent magnet synchronous motor position control based on improved terminal sliding mode control provided by the invention. The system comprises a permanent magnet synchronous motor, a three-phase inverter module, a SVPWM vector control module, a nonsingular continuous terminal fuzzy sliding mode control module and a linear active disturbance rejection control module. The control method adopts i d Vector control =0, system given reference position θ ref The collected current and voltage are subjected to Clark conversion and Park conversion to obtain q-axis and d-axis current i q 、i d Respectively inputting the voltage components to a linear active disturbance rejection module and a PI control module, and outputting a voltage component u on a d axis under a synchronous coordinate system d * Voltage component u on q-axis q * Then, the voltage component u on the alpha axis under two static coordinates is calculated through inverse park coordinate transformation α * Voltage component u on the beta axis β * Through space vectorThe pulse width modulation SVPWM is input to an inverter, voltage is converted into three-phase alternating current through the inverter and is supplied to a motor, a position signal theta of the motor is obtained and is input to a nonsingular continuous terminal fuzzy sliding mode control module, the nonsingular continuous terminal fuzzy sliding mode control module is compared with a reference position, q-axis reference current is obtained and is input to a linear active disturbance rejection module, and finally a motor control system forms a closed loop control circuit.
State equation of synchronous coordinate system (q, d coordinate system) permanent magnet synchronous motor:
wherein:u d 、u q stator voltages of d and q axes respectively; id.i q D, q-axis current; l (L) d 、L q Stator inductances of d and q axes; psi f Is a magnetic linkage; r is R s Is a stator resistor;Ψ f is the flux linkage of the permanent magnet;Jis the moment of inertia of the motor,ωis the electrical angular velocity; the paper is chosen to be a surface-mounted permanent magnet synchronous motor, thusL d =L q =L。
Fig. 2 is a flowchart of a permanent magnet synchronous motor position control method provided by the embodiment of the invention, and the method specifically comprises the following steps:
step 1: mathematical model under q and d axis coordinates of surface-mounted permanent magnet synchronous motor, and given reference positionθ ref 。
Step 2: and constructing a nonsingular fuzzy sliding mode controller based on a continuous approach law function.
Step 3: and taking the position tracking error function as a sliding mode surface to obtain q-axis reference current.
Step 4: the active disturbance rejection controller regulates the output of the sliding mode controller and outputs voltage.
Step 5: the output position of the motor is adjusted based on the output voltage of the active disturbance rejection controller.
FIG. 3 is a schematic block diagram of fuzzy sliding mode control provided by the implementation of the invention. The system comprises a fuzzy controller module, a nonsingular continuous terminal sliding mode controller module and a controlled object. The nonsingular continuous terminal sliding mode controller overcomes the singularity of terminal sliding mode control, weakens the buffeting phenomenon of the system, has parameter k in the sliding mode approach law, and the variation amplitude of the value seriously influences the performance of the system.
Defining a position tracking error as:
system slip plane:
wherein: 0< beta <1, m, n are positive odd numbers and n < m <2n is satisfied.
And (3) designing a system sliding mode approach law:
wherein: k >0, alpha is positive odd and alpha <1.
According to the fuzzy control principle, selects、s’K as input to the fuzzy controller ^ As the output of the fuzzy controller, the output expression of the nonsingular continuous terminal fuzzy sliding mode controller is obtained:
fig. 4 is a flow chart of a fuzzy sliding mode control principle provided by the embodiment of the invention, and the controller specifically comprises the following steps:
step 1: and constructing nonsingular sliding mode control based on a continuous approach law function.
Step 2: the position tracking error function is selected as a sliding mode surface, and the sliding mode approach law is as follows: ds/dt= -k [ s+|s| α sgn(s)]。
Step 3: and the fuzzy controller adjusts the k value in the sliding mode approach law in real time and feeds back the adjustment value to the sliding mode controller.
Compared with the traditional sliding mode control, the sliding mode control algorithm combining linear active disturbance rejection control and fuzzy control is provided, the invention adopts a continuous approach law design controller, reduces the buffeting phenomenon of the system, simultaneously adopts a fuzzy controller to adjust parameters in real time, carries out online real-time adjustment on the gain in the approach law of the sliding mode, improves the response speed and the robustness of the system, adopts a linear active disturbance rejection control reactance method in the inner loop of the system, simplifies the system structure, solves the defect of PI control on the nonlinear system, and reduces the influence caused by the change of internal parameters.
The control algorithm model of the nonsingular continuous terminal sliding mode, the control algorithm model of the nonsingular continuous terminal sliding mode combined with the linear active disturbance rejection technology and the control algorithm model of the nonsingular continuous terminal fuzzy sliding mode control combined with the linear active disturbance rejection technology are built in Matlab/Simulink. The simulation model takes a surface-mounted permanent magnet synchronous motor as an example, and specific parameters of the motor are shown in table 1.
TABLE 1
Fig. 5, 6 and 7 show three different methods applied to the position control system of the permanent magnet synchronous motor in the no-load condition, respectively: curve comparison diagrams of non-singular continuous terminal sliding mode Control (CNTSM), non-singular continuous terminal sliding mode control combined with linear active disturbance rejection control (CNTSM-LADRC), and non-singular continuous terminal Fuzzy sliding mode control combined with linear active disturbance rejection control (CNTSM-Fuzzy-LADRC). By comparing the three methods, the sliding mode control algorithm combining the fuzzy control and the linear active disturbance rejection control can be seen that the tracking error is zero in a limited time, and the tracking process is stable.
Fig. 8, 9 and 10 are graphs comparing position tracking and tracking errors of three methods applied to a position control system of a permanent magnet synchronous motor in the presence of external disturbances. Given a reference position theta ref =30cos (pi t/2), the simulation time was set to 1s, and at 0.5s it was the external disturbance tl=2.5n.m that was added. The comparison shows that after disturbance is added, the control algorithm provided by the invention is superior to other two methods in both tracking error and tracking displacement, and has the advantages of maximum tracking error and minimum recovery stability time. Through the analysis, the control algorithm applied by the invention has good robustness after disturbance is added into the control system.
The permanent magnet synchronous motor position control system has influence caused by internal parameter variation besides external disturbance. The present invention is realized by changing the value of moment of inertia (j=j 0 ，J=5J 0 ，J=10J 0 ) The robustness of the algorithm in the case of a change in internal parameters is verified. Fig. 11, 12 and 13 are graphs comparing position tracking error and position tracking with the moment of inertia change in the three control methods, respectively. Simulation results can be seen: the transient response is fast and accurate regardless of changes in internal parameters.
The present invention is described above by way of example with reference to the accompanying drawings, and it is apparent that the specific implementation of the present invention is not limited by the above manner, and it is within the scope of the present invention to apply the inventive concept and technical solution to other situations as long as various insubstantial improvements made by the inventive concept and technical solution are adopted, or the inventive concept and technical solution are not improved.
The present disclosure is intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Any omissions, modifications, equivalents, improvements, and the like, which are within the spirit and principles of the one or more embodiments of the disclosure, are therefore intended to be included within the scope of the disclosure.
Claims (6)
1. A position control algorithm for a permanent magnet synchronous motor based on improved sliding mode control, comprising:
under a mathematical model under q-axis and d-axis coordinates of a permanent magnet synchronous motor, constructing a nonsingular terminal fuzzy sliding mode controller on the basis of a continuous approach law;
taking the position tracking error function as a sliding mode surface to obtain q-axis reference current;
the active disturbance rejection controller regulates the output of the sliding mode controller and outputs voltage;
adjusting the output position of the motor based on the output voltage of the active disturbance rejection controller;
the construction of the nonsingular terminal fuzzy sliding mode controller based on the continuous approach law comprises the following steps:
constructing a nonsingular terminal sliding mode controller on the basis of a continuous approach law;
the method comprises the steps of selecting a sliding mode surface and a first derivative of the sliding mode surface of sliding mode control as input of a fuzzy controller, wherein the output of the fuzzy controller is the switching gain of the sliding mode controller, and obtaining a nonsingular terminal fuzzy sliding mode controller;
the control equation of the nonsingular terminal sliding mode controller is as follows:
in the formula, 0<β<1, λ=m/n, m, n being a positive odd number and satisfying n<m<2n，θ ref For a given reference position, k is the sliding mode approach law gain, e is the position tracking error, α is positive odd and α<1, sliding mode surface of system，ωIn order to obtain the electric angular velocity,
，
k is the output of the fuzzy controller,Jis the moment of inertia of the motor, P n As polar logarithm, ψ f Is the flux linkage of the permanent magnet;
the control equation of the nonsingular terminal fuzzy sliding mode controller is as follows:
。
2. the position control algorithm of claim 1 wherein the estimated value of the switching gain of the sliding mode approximation law is
In the method, in the process of the invention,u * for the output of the fuzzy controller,k ^ is an input parameter of the sliding mode controller.
3. The position control algorithm of claim 1, wherein the active-disturbance-rejection controller adjusts an output of the slip-mode controller, the output voltage comprising:
by utilizing a first-order tracking differentiator, reasonable control signals are given out by carrying out low-pass filtering on the output value of the sliding mode controller;
the linear expansion observer tracks unknown parts and disturbance of the model by utilizing the expanded state, and gives out control quantity to compensate;
the linear error state feedback control law obtains stable control voltage by controlling and adjusting the tracking value of the first-order differential tracker and the observed value of the extended state observer.
4. A position control algorithm according to claim 3, wherein adjusting the output position of the motor based on the output voltage of the active disturbance rejection controller comprises:
the q-axis voltage value is obtained as follows:
wherein z1 and z2 are respectively the observed values of q-axis current and disturbance value thereof, b q In order to achieve a voltage gain,i q * the input of the inner loop current controller;
calculating the voltage component u on the alpha axis under two static coordinates by inverse park coordinate transformation α * Voltage component u on the beta axis β * After space vector pulse width modulation SVPWM, the voltage is converted into three-phase alternating current through the inverter and is supplied to the motor, a position signal theta of the motor is obtained and is input to a nonsingular continuous terminal fuzzy sliding mode control module, the nonsingular continuous terminal fuzzy sliding mode control module is compared with a reference position, q-axis reference current is obtained and is input to a linear active disturbance rejection module, and finally a closed loop control circuit is formed by a motor control system.
5. The position control algorithm of claim 1, wherein the control system on which the algorithm is based comprises: the system comprises a permanent magnet synchronous motor, a three-phase inverter module, a SVPWM vector control module, a nonsingular continuous terminal fuzzy sliding mode control module and a linear active disturbance rejection control module.
6. The position control algorithm of claim 5 wherein the permanent magnet synchronous motor comprises a surface mount permanent magnet synchronous motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111306166.2A CN114244214B (en) | 2021-11-05 | 2021-11-05 | Position control algorithm of permanent magnet synchronous motor based on improved sliding mode control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111306166.2A CN114244214B (en) | 2021-11-05 | 2021-11-05 | Position control algorithm of permanent magnet synchronous motor based on improved sliding mode control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114244214A CN114244214A (en) | 2022-03-25 |
| CN114244214B true CN114244214B (en) | 2023-10-24 |
Family
ID=80748513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111306166.2A Active CN114244214B (en) | 2021-11-05 | 2021-11-05 | Position control algorithm of permanent magnet synchronous motor based on improved sliding mode control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114244214B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106788044A (en) * | 2017-02-16 | 2017-05-31 | 江苏大学 | A kind of permagnetic synchronous motor self adaptation non-singular terminal sliding-mode control based on interference observer |
| CN109951121A (en) * | 2019-04-10 | 2019-06-28 | 安徽理工大学 | Permanent magnet synchronous motor position Sensorless Control based on non-singular terminal sliding formwork |
| CN110661464A (en) * | 2019-09-29 | 2020-01-07 | 北京机械设备研究所 | Disturbance suppression method for alternating current servo system and position loop |
| CN112039394A (en) * | 2020-09-24 | 2020-12-04 | 大连海事大学 | PMSM servo control system based on fuzzy active disturbance rejection |
| CN112532133A (en) * | 2020-11-26 | 2021-03-19 | 天津大学 | Filtering compensation sliding mode active-disturbance-rejection control method suitable for permanent magnet synchronous motor |
| CN112838797A (en) * | 2020-12-27 | 2021-05-25 | 刘宗锋 | Permanent magnet synchronous motor fuzzy sliding mode control method based on improved index approach law |
| CN113078861A (en) * | 2021-04-07 | 2021-07-06 | 长春工业大学 | Sliding mode control method, system, medium and application of permanent magnet synchronous motor |
| CN113193794A (en) * | 2021-05-18 | 2021-07-30 | 武汉海卓泰克科技有限公司 | Rapid tracking control system and method for permanent magnet brushless direct current motor servo system |
| CN113346809A (en) * | 2021-05-07 | 2021-09-03 | 中国人民解放军陆军工程大学 | Sliding-mode observer-based hub motor platform speed control system and control method thereof |
-
2021
- 2021-11-05 CN CN202111306166.2A patent/CN114244214B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106788044A (en) * | 2017-02-16 | 2017-05-31 | 江苏大学 | A kind of permagnetic synchronous motor self adaptation non-singular terminal sliding-mode control based on interference observer |
| CN109951121A (en) * | 2019-04-10 | 2019-06-28 | 安徽理工大学 | Permanent magnet synchronous motor position Sensorless Control based on non-singular terminal sliding formwork |
| CN110661464A (en) * | 2019-09-29 | 2020-01-07 | 北京机械设备研究所 | Disturbance suppression method for alternating current servo system and position loop |
| CN112039394A (en) * | 2020-09-24 | 2020-12-04 | 大连海事大学 | PMSM servo control system based on fuzzy active disturbance rejection |
| CN112532133A (en) * | 2020-11-26 | 2021-03-19 | 天津大学 | Filtering compensation sliding mode active-disturbance-rejection control method suitable for permanent magnet synchronous motor |
| CN112838797A (en) * | 2020-12-27 | 2021-05-25 | 刘宗锋 | Permanent magnet synchronous motor fuzzy sliding mode control method based on improved index approach law |
| CN113078861A (en) * | 2021-04-07 | 2021-07-06 | 长春工业大学 | Sliding mode control method, system, medium and application of permanent magnet synchronous motor |
| CN113346809A (en) * | 2021-05-07 | 2021-09-03 | 中国人民解放军陆军工程大学 | Sliding-mode observer-based hub motor platform speed control system and control method thereof |
| CN113193794A (en) * | 2021-05-18 | 2021-07-30 | 武汉海卓泰克科技有限公司 | Rapid tracking control system and method for permanent magnet brushless direct current motor servo system |
Non-Patent Citations (2)
| Title |
|---|
| 基于改进型非奇异模糊终端滑模观测器的PMSM无传感器控制;李江波，等;《重庆理工大学学报(自然科学)》;第32卷(第4期);第193-198页 * |
| 永磁同步电动机的无抖振滑模控制系统设计;王艳敏，等;《电机与控制学报》;第12卷(第5期);第514-519页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114244214A (en) | 2022-03-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Sun et al. | A composite sliding mode control for SPMSM drives based on a new hybrid reaching law with disturbance compensation | |
| CN102969968B (en) | Permanent magnet synchronous motor control method | |
| CN108092567A (en) | A kind of Speed control of permanent magnet synchronous motor system and method | |
| CN108418487B (en) | Speed pulsation suppression method for electric automobile | |
| Demirbas | Self‐tuning fuzzy‐PI‐based current control algorithm for doubly fed induction generator | |
| CN109873582B (en) | Limited time position tracking control method of permanent magnet synchronous motor based on dynamic surface | |
| CN105577058A (en) | Novel fuzzy active disturbance rejection controller based five-phase fault-tolerant permanent magnet motor speed control method | |
| CN106849793A (en) | A kind of Over Electric Motor with PMSM fuzzy Neural Network Control System | |
| CN110165953B (en) | PMSM speed regulation control method based on approximation law | |
| CN104639001A (en) | Servo motor control method integrating sliding mode control and fractional order neural network control | |
| CN107196570A (en) | A kind of permagnetic synchronous motor sensorless strategy method | |
| CN111327242A (en) | Model-free prediction current control method for three-level permanent magnet synchronous motor | |
| Jie et al. | Adaptive decoupling control using radial basis function neural network for permanent magnet synchronous motor considering uncertain and time-varying parameters | |
| Zhao et al. | Reinforcement learning and optimal control of PMSM speed servo system | |
| Ben Regaya et al. | Electric drive control with rotor resistance and rotor speed observers based on fuzzy logic | |
| Xiahou et al. | Control of DFIG’s rotor-side converter with decoupling of current loops using observer-based fractional-order sliding-mode regulators | |
| Ding et al. | Research on pmsm vector control system based on fuzzy pi parameter self-tuning | |
| CN109639200B (en) | Rotational inertia online identification method based on motor load torque detection | |
| Li et al. | Design of model-free speed regulation system for permanent magnet synchronous linear motor based on adaptive observer | |
| CN110112980A (en) | The control method and system of iterative study based on Fractional Calculus | |
| CN110096077B (en) | Nonsingular rapid terminal sliding mode rotating speed control method and system for switched reluctance motor | |
| CN114244214B (en) | Position control algorithm of permanent magnet synchronous motor based on improved sliding mode control | |
| CN112737435A (en) | Anti-interference system of stepping motor based on T-S fuzzy sliding mode control | |
| CN111835251A (en) | Permanent magnet synchronous motor high-performance control method based on no-speed sensing | |
| Gan et al. | An adaptive nonlinear extended state observer for the sensorless speed control of a PMSM |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |